Just to avoid misunderstandings: the planetary body pictured above is Phobos,
not 67P. The reference to Philae may have been a bit unfortunate there. So, irregularly shaped bodies - yes, rubber ducks ... not quite.
And to answer the question: it will be possible to land on irregularly shaped bodies, as long as they are implemented with the new planetary surface definition, and have an elevation map provided for them.
In particular, that means that elevations must be representable as r = r(phi,theta). In other words, the surfaces have to be star-shaped (in the topological, not the astronomical sense

). More specifically, star-shaped from the centre of gravity. This is true for most solar system objects, but not all of them. And 67P is probably not. So no recreation of the Philae bounce for now.
Although it might be interesting to figure out how close one can get to 67P's surface with a star-shape. If you put the origin into the neck, close to the surface opposite the most concave part, you'd probably catch most of the shape (even though the origin would then be some distance from the centre of gravity, which would cause other problems). Homework for today: find the optimal point of origin, resulting in the smallest shape error, as a least squares minimisation problem.